Inheritance diagram for autonomous_mapping::NextBestView:

Public Member Functions
	NextBestView ()
void	onInit ()
	~NextBestView ()
Protected Member Functions
void	castRayAndLabel (pcl::PointCloud< pcl::PointXYZ > &cloud, octomap::pose6d origin)
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &pointcloud2_msg)
	cloud callback and the core filtering function at the same time
double	compute_overlap_score (double x, double y, double theta, int reward)
void	computeBoundaryPoints (pcl::PointCloud< pcl::PointXYZ > &border_cloud, pcl::PointCloud< pcl::Normal > &border_normals, std::vector< pcl::PointIndices > &clusters, pcl::PointCloud< pcl::PointXYZ > *cluster_clouds)
std::vector< std::vector < std::vector< int > > >	create_costmap (double x_dim, double y_dim, int nr_dirs, pcl::PointCloud< pcl::PointXYZ > border_cloud, geometry_msgs::Point &min, geometry_msgs::Point &max)
std::vector< std::vector < std::vector< int > > >	create_empty_costmap (double x_dim, double y_dim, int nr_dirs)
void	create_kernels ()
void	createOctree (pcl::PointCloud< pcl::PointXYZ > &pointcloud2_pcl, octomap::pose6d laser_pose)
void	extractClusters (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, float tolerance, const boost::shared_ptr< pcl::KdTree< pcl::PointXYZ > > &tree, std::vector< pcl::PointIndices > &clusters, double eps_angle, unsigned int min_pts_per_cluster=1, unsigned int max_pts_per_cluster=std::numeric_limits< int >::max())
geometry_msgs::Pose	find_best_pose (int best_i, int best_j, int best_k, int max_reward, geometry_msgs::Point &min, geometry_msgs::Point &max)
void	find_max_indices (int &best_i, int &best_j, int &best_k, int nr_dirs, int x_dim, int y_dim, int &max_reward, std::vector< std::vector< std::vector< int > > > costmap)
void	find_min_max (pcl::PointCloud< pcl::PointXYZ > border_cloud, geometry_msgs::Point &min, geometry_msgs::Point &max)
void	findBorderPoints (pcl::PointCloud< pcl::PointXYZ > &border_cloud, std::string frame_id)
void	findOccupiedPoints (pcl::PointCloud< pcl::PointXYZ > &occupied_cloud, std::string frame_id)
void	grid_cb (const nav_msgs::OccupancyGridConstPtr &grid_msg)
std::vector< std::vector < std::vector< int > > >	reduced_costmap (std::vector< std::vector< std::vector< int > > > costmap, int best_j, int best_k, geometry_msgs::Point &min, geometry_msgs::Point &max, double &x_dim, double &y_dim)
geometry_msgs::Pose	sample_from_costmap (std::vector< std::vector< std::vector< int > > > costmap, int max_reward, int nr_dirs, int x_dim, int y_dim, geometry_msgs::Point min, geometry_msgs::Point max, int &reward, double &score)
void	save_costmaps (int nr_dirs, std::vector< std::vector< std::vector< int > > > costmap, std::string file_prefix, ros::Time stamp)
void	visualizeOctree (const sensor_msgs::PointCloud2ConstPtr &pointcloud2_msg, geometry_msgs::Point viewpoint)
Static Protected Member Functions
static bool	compareClusters (pcl::PointIndices c1, pcl::PointIndices c2)
Protected Attributes
ros::Publisher	aggregated_pub_
ros::Publisher	border_cloud_pub_
double	boundary_angle_threshold_
bool	check_centroids_
sensor_msgs::PointCloud2	cloud_in_
ros::Subscriber	cloud_sub_
double	costmap_grid_cell_size_
double	eps_angle_
int	free_label_
int	free_nr_
int	fringe_label_
int	fringe_nr_
int	fringe_threashhold_
ros::Subscriber	grid_sub_
std::string	input_cloud_topic_
double	kernel_degree_step_
double	kernel_radial_step_
std::string	laser_frame_
int	level_
nav_msgs::OccupancyGrid	map_
visualization_msgs::MarkerArray	marker
visualization_msgs::Marker	marker_bound_
ros::Publisher	marker_bound_pub_
visualization_msgs::Marker	marker_occ_
ros::Publisher	marker_occ_pub_
int	min_pts_per_cluster_
geometry_msgs::PoseArray	nbv_pose_array_
double	normal_search_radius_
int	nr_costmap_dirs_
double	nr_pose_samples_
int	number
int	occupied_label_
int	occupied_nr_
octomap::ScanGraph *	octomap_graph_
octomap::OcTreePCL *	octree_
visualization_msgs::MarkerArray	octree_marker_array_msg_
ros::Publisher	octree_marker_array_publisher_
ros::Publisher	octree_marker_publisher_
double	octree_maxrange_
ros::Publisher	octree_pub_
double	octree_res_
ros::Publisher	ogrid_pub_
std::string	ogrid_sub_topic_
std::string	ogrid_topic_
std::string	output_octree_topic_
std::string	output_pose_topic_
geometry_msgs::Pose	p
ros::Publisher	pose_boundary_pub_
ros::Publisher	pose_marker_array_pub_
ros::Publisher	pose_marker_pub_
ros::Publisher	pose_occupied_pub_
ros::Publisher	pose_pub_
octomap::KeyRay	ray
bool	received_map_
double	sensor_d_max_
double	sensor_d_min_
double	sensor_horizontal_angle_
double	sensor_horizontal_resolution_
double	sensor_opening_angle_
double	sensor_preferred_d_max_
double	sensor_preferred_d_min_
double	sensor_preferred_opening_angle_
double	sensor_vertical_angle_
double	sensor_vertical_resolution_
tf::TransformListener	tf_listener_
double	tolerance_
int	unknown_label_
std::vector< std::vector < point_2d > >	vis_kernel
bool	visualize_octree_

Detailed Description

Definition at line 115 of file next_best_view.cpp.

Constructor & Destructor Documentation

autonomous_mapping::NextBestView::NextBestView ( )

Definition at line 249 of file next_best_view.cpp.

autonomous_mapping::NextBestView::~NextBestView ( )

Definition at line 254 of file next_best_view.cpp.

Member Function Documentation

void autonomous_mapping::NextBestView::castRayAndLabel	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		octomap::pose6d	origin
	)		`[protected]`

Definition at line 1307 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::cloud_cb ( const sensor_msgs::PointCloud2ConstPtr & pointcloud2_msg ) [protected]

cloud callback and the core filtering function at the same time

Parameters:

pointcloud2_msg input point cloud to be processed

Definition at line 774 of file next_best_view.cpp.

static bool autonomous_mapping::NextBestView::compareClusters	(	pcl::PointIndices	c1,
		pcl::PointIndices	c2
	)		`[inline, static, protected]`

Definition at line 207 of file next_best_view.cpp.

double autonomous_mapping::NextBestView::compute_overlap_score	(	double	x,
		double	y,
		double	theta,
		int	reward
	)		`[protected]`

Definition at line 595 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::computeBoundaryPoints	(	pcl::PointCloud< pcl::PointXYZ > &	border_cloud,
		pcl::PointCloud< pcl::Normal > &	border_normals,
		std::vector< pcl::PointIndices > &	clusters,
		pcl::PointCloud< pcl::PointXYZ > *	cluster_clouds
	)		`[protected]`

Definition at line 1129 of file next_best_view.cpp.

std::vector< std::vector< std::vector< int > > > autonomous_mapping::NextBestView::create_costmap	(	double	x_dim,
		double	y_dim,
		int	nr_dirs,
		pcl::PointCloud< pcl::PointXYZ >	border_cloud,
		geometry_msgs::Point &	min,
		geometry_msgs::Point &	max
	)		`[protected]`

Definition at line 415 of file next_best_view.cpp.

std::vector< std::vector< std::vector< int > > > autonomous_mapping::NextBestView::create_empty_costmap	(	double	x_dim,
		double	y_dim,
		int	nr_dirs
	)		`[protected]`

Definition at line 401 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::create_kernels ( ) [protected]

Definition at line 740 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::createOctree	(	pcl::PointCloud< pcl::PointXYZ > &	pointcloud2_pcl,
		octomap::pose6d	laser_pose
	)		`[protected]`

creating an octree from pcl data

Definition at line 1427 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::extractClusters	(	const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const pcl::PointCloud< pcl::Normal > &	normals,
		float	tolerance,
		const boost::shared_ptr< pcl::KdTree< pcl::PointXYZ > > &	tree,
		std::vector< pcl::PointIndices > &	clusters,
		double	eps_angle,
		unsigned int	min_pts_per_cluster = `1`,
		unsigned int	max_pts_per_cluster = `std::numeric_limits< int >::max()`
	)		`[protected]`

geometry_msgs::Pose autonomous_mapping::NextBestView::find_best_pose	(	int	best_i,
		int	best_j,
		int	best_k,
		int	max_reward,
		geometry_msgs::Point &	min,
		geometry_msgs::Point &	max
	)		`[protected]`

Definition at line 457 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::find_max_indices	(	int &	best_i,
		int &	best_j,
		int &	best_k,
		int	nr_dirs,
		int	x_dim,
		int	y_dim,
		int &	max_reward,
		std::vector< std::vector< std::vector< int > > >	costmap
	)		`[protected]`

Definition at line 338 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::find_min_max	(	pcl::PointCloud< pcl::PointXYZ >	border_cloud,
		geometry_msgs::Point &	min,
		geometry_msgs::Point &	max
	)		`[protected]`

Definition at line 390 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::findBorderPoints	(	pcl::PointCloud< pcl::PointXYZ > &	border_cloud,
		std::string	frame_id
	)		`[protected]`

Definition at line 1368 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::findOccupiedPoints	(	pcl::PointCloud< pcl::PointXYZ > &	occupied_cloud,
		std::string	frame_id
	)		`[protected]`

Definition at line 1347 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::grid_cb ( const nav_msgs::OccupancyGridConstPtr & grid_msg ) [protected]

Definition at line 674 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::onInit ( ) [virtual]

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 262 of file next_best_view.cpp.

std::vector< std::vector< std::vector< int > > > autonomous_mapping::NextBestView::reduced_costmap	(	std::vector< std::vector< std::vector< int > > >	costmap,
		int	best_j,
		int	best_k,
		geometry_msgs::Point &	min,
		geometry_msgs::Point &	max,
		double &	x_dim,
		double &	y_dim
	)		`[protected]`

Definition at line 472 of file next_best_view.cpp.

geometry_msgs::Pose autonomous_mapping::NextBestView::sample_from_costmap	(	std::vector< std::vector< std::vector< int > > >	costmap,
		int	max_reward,
		int	nr_dirs,
		int	x_dim,
		int	y_dim,
		geometry_msgs::Point	min,
		geometry_msgs::Point	max,
		int &	reward,
		double &	score
	)		`[protected]`

Definition at line 566 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::save_costmaps	(	int	nr_dirs,
		std::vector< std::vector< std::vector< int > > >	costmap,
		std::string	file_prefix,
		ros::Time	stamp
	)		`[protected]`

Definition at line 371 of file next_best_view.cpp.

void autonomous_mapping::NextBestView::visualizeOctree	(	const sensor_msgs::PointCloud2ConstPtr &	pointcloud2_msg,
		geometry_msgs::Point	viewpoint
	)		`[protected]`